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公开(公告)号：US20190291267A1
公开(公告)日：2019-09-26
申请号：US16441600
申请日：2019-06-14
Applicant: X DEVELOPMENT LLC
Inventor： Geoffrey Lalonde , Peter Elving Anderson-Sprecher
Abstract: A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.
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公开(公告)号：US10127677B1
公开(公告)日：2018-11-13
申请号：US15599232
申请日：2017-05-18
Applicant: X Development LLC
Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and using a spatio-temporal model that defines pose values for a plurality of objects in an environment and corresponding times associated with the pose values. Some implementations relate to using observations for one or more robots in an environment to generate a spatio-temporal model that defines pose values and corresponding times for multiple objects in the environment. In some of those implementations, the model is generated based on uncertainty measures associated with the pose values. Some implementations relate to utilizing a generated spatio-temporal model to determine the pose for each of one or more objects an environment at a target time. The pose for an object at a target time is determined based on one or more pose values for the object selected based on a corresponding measurement time, uncertainty measure, and/or source associated with the pose values.
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公开(公告)号：US10195740B2
公开(公告)日：2019-02-05
申请号：US14850909
申请日：2015-09-10
Applicant: X Development LLC
Inventor： Peter Elving Anderson-Sprecher
IPC: B25J9/16 , G05D1/02 , G06K9/00 , G01C21/00 , G01B11/14 , B25J5/00 , G06Q10/08 , G06K17/00 , G06K7/10
Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.
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公开(公告)号：US09821463B2
公开(公告)日：2017-11-21
申请号：US15340656
申请日：2016-11-01
Applicant: X Development LLC
Inventor： James J. Kuffner, Jr. , Peter Elving Anderson-Sprecher
CPC classification number: B25J9/1676 , B25J19/06 , G05B2219/40196 , G05B2219/40202 , G05B2219/40203 , Y10S901/47 , Y10S901/49
Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.
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5.发明申请USING OBJECT OBSERVATIONS OF MOBILE ROBOTS TO GENERATE A SPATIO-TEMPORAL OBJECT INVENTORY, AND USING THE INVENTORY TO DETERMINE MONITORING PARAMETERS FOR THE MOBILE ROBOTS 审中-公开使用移动机器人的对象观察来生成空间物体库存，并使用库存来确定移动机器人的监控参数公开(公告)号：US20170072563A1
公开(公告)日：2017-03-16
申请号：US14850909
申请日：2015-09-10
Applicant: X Development LLC
Inventor： Peter Elving Anderson-Sprecher
CPC classification number: B25J9/1664 , B25J5/00 , B25J9/1694 , G01B11/14 , G01C21/00 , G05D1/0274 , G05D1/0297 , G05D2201/0216 , G06K7/10376 , G06K9/00664 , G06K2017/0045 , G06K2017/0051 , G06Q10/087 , Y10S901/01
Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.
Abstract translation: 提供了方法，装置，系统和计算机可读介质，用于基于来自移动机器人的对象观察来产生空间 - 时间对象库存，并且基于时空对象库存确定用于一个或多个的移动机器人的监视参数 未来时间段。 一些实现涉及使用时空对象库存来确定当满足一个或多个特定标准时在环境的一个或多个区域中发生的对象的移动量，并且使用该确定来确定可以利用的监视参数 以向一个或多个移动机器人提供命令，这些移动机器人在还满足一个或多个特定标准的未来时间段时影响移动机器人的移动的一个或多个方面。
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Patent Agency Ranking
公开(公告)号：US09574883B2
公开(公告)日：2017-02-21
申请号：US14667655
申请日：2015-03-24
Applicant: X Development LLC
CPC classification number: G01C21/206 , G05B19/41895 , G05B2219/31007 , G05D1/0274 , G05D1/0297 , G05D2201/0216 , G06K9/00664 , G06Q10/08 , G09B29/004 , G09B29/007 , G09C1/00 , H03K19/17768 , H04L9/3278 , H04L2209/04 , H04L2209/12 , H04W4/043 , Y02P90/285 , Y02P90/60
Abstract: Systems and methods are provided for generating maps with semantic labels. A computing device can determine a first map that includes features located at first positions and semantic labels located at semantic positions, and determine a second map that includes at least some of the features located at second positions. The computing device can identify a first region with fixed features located at first positions and corresponding equivalent second positions. The computing device can identify a second region with moved features located at first positions and corresponding non-equivalent second positions. The computing device can determine one or more transformations between first positions and second positions. The computing device can assign the semantic labels to the second map at second semantic positions, where the second semantic positions are the same in the first region, and where the second semantic positions in the second region are based on the transformation(s).
Abstract translation: 提供了用于生成具有语义标签的地图的系统和方法。 计算设备可以确定包括位于位于语义位置处的第一位置和语义标签的特征的第一地图，并且确定包括位于第二位置的至少一些特征的第二地图。 计算设备可以识别具有位于第一位置和相应等效的第二位置的固定特征的第一区域。 计算设备可以识别具有位于第一位置和对应的非等效第二位置的移动特征的第二区域。 计算设备可以确定第一位置和第二位置之间的一个或多个变换。 计算设备可以在第二语义位置处将语义标签分配给第二映射，其中第二语义位置在第一区域中相同，并且第二区域中的第二语义位置基于变换。
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公开(公告)号：US20190143515A1
公开(公告)日：2019-05-16
申请号：US16228423
申请日：2018-12-20
Applicant: X DEVELOPMENT LLC
Inventor： Peter Elving Anderson-Sprecher
Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.
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公开(公告)号：US09691151B1
公开(公告)日：2017-06-27
申请号：US14834980
申请日：2015-08-25
Applicant: X Development LLC
CPC classification number: G05D1/024 , G05D1/0251 , G05D1/0274 , G05D2201/0216 , H04N2013/0081
Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and using a spatio-temporal model that defines pose values for a plurality of objects in an environment and corresponding times associated with the pose values. Some implementations relate to using observations for one or more robots in an environment to generate a spatio-temporal model that defines pose values and corresponding times for multiple objects in the environment. In some of those implementations, the model is generated based on uncertainty measures associated with the pose values. Some implementations relate to utilizing a generated spatio-temporal model to determine the pose for each of one or more objects an environment at a target time. The pose for an object at a target time is determined based on one or more pose values for the object selected based on a corresponding measurement time, uncertainty measure, and/or source associated with the pose values.
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公开(公告)号：US20170097232A1
公开(公告)日：2017-04-06
申请号：US14874419
申请日：2015-10-03
Applicant: X Development LLC
Inventor： Peter Elving Anderson-Sprecher
CPC classification number: G01B21/00 , B25J5/007 , B25J9/1697 , G01C15/00 , G01C21/20 , G01C21/206 , G05D1/0088 , G05D1/021 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0246 , G05D1/0255 , G05D1/0261 , G05D1/0272 , G05D1/0274 , G05D1/0297 , G05D2201/0203 , Y10S901/01 , Y10S901/31 , Y10S901/47
Abstract: Methods, apparatus, systems, and computer-readable media are provided for using sensor-based observations from multiple agents (e.g., mobile robots and/or fixed sensors) in an environment to estimate the pose of an object in the environment at a target time and to estimate an uncertainty measure for that pose. Various implementations generate a multigraph based on a group of observations from multiple agents, where the multigraph includes a reference frame node, object nodes, and a plurality edges connecting the nodes. In some implementations, a composite pose and composite uncertainty measure are generated for each of a plurality of simple paths along the edges of the multigraph that connect the reference frame node to a given object node—and a pose and uncertainty measure for an object identifier associated with the given object node is generated based on the composite poses and the composite uncertainty measures.
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公开(公告)号：US10209063B2
公开(公告)日：2019-02-19
申请号：US14874419
申请日：2015-10-03
Applicant: X Development LLC
Inventor： Peter Elving Anderson-Sprecher
Abstract: Methods, apparatus, systems, and computer-readable media are provided for using sensor-based observations from multiple agents (e.g., mobile robots and/or fixed sensors) in an environment to estimate the pose of an object in the environment at a target time and to estimate an uncertainty measure for that pose. Various implementations generate a multigraph based on a group of observations from multiple agents, where the multigraph includes a reference frame node, object nodes, and a plurality edges connecting the nodes. In some implementations, a composite pose and composite uncertainty measure are generated for each of a plurality of simple paths along the edges of the multigraph that connect the reference frame node to a given object node—and a pose and uncertainty measure for an object identifier associated with the given object node is generated based on the composite poses and the composite uncertainty measures.
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